codebase_version string | trossen_subversion string | robot_type string | total_episodes int64 | total_frames int64 | total_tasks int64 | total_videos int64 | total_chunks int64 | chunks_size int64 | fps int64 | splits dict | data_path string | features dict | video_path_original string | tsfile_conversion dict |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
v2.1 | v1.0 | trossen_ai_stationary | 66 | 127,171 | 3 | 132 | 1 | 1,000 | 30 | {
"train": "0:66"
} | data/coffee_making_demo.tsfile | {
"Time": {
"dtype": "int64",
"shape": [
1
],
"tsfile_role": "TIME",
"unit": "ms"
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"tsfile_role": "TAG"
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"tsfile_role": "TAG"
},
... | videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 | {
"source_dataset": "allday-technology/coffeeMakingDemo",
"source_data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"converted_data_path": "data/coffee_making_demo.tsfile",
"table_name": "coffee_making_demo",
"granularity": "merged",
"time_precision": "ms",
"time_mapping": ... |
Coffee Making Demo (TsFile)
Apache TsFile version of allday-technology/coffeeMakingDemo.
Overview
A LeRobot (v2.1) teleoperation dataset of a coffee-making demonstration recorded on a Trossen AI stationary robot. Each episode is a single-arm (7-DoF) trajectory with synchronized proprioceptive state and action commands at 30 fps.
The dataset covers the following tasks:
pick up a coffee capsulepick up an empty cup by the handleRobot: trossen_ai_stationary, single arm, 7 joints (
left_joint_0…left_joint_6).Episodes: 66 (episode_index 0–65).
Frames: 127,171 time-series rows.
Tasks: 3 task ids (task_index 0–2; see
meta/tasks.jsonlfor the instruction text).Sampling rate: 30 fps (from
meta/info.json).
Schema (TsFile structure)
All 66 episodes are stored in a single TsFile table; episode_index and task_index are TAG columns (the TsFile device dimension), so one episode is selected with WHERE episode_index=0.
- Time (INT64, milliseconds) —
round(timestamp * 1000); restarts at 0 for each episode, stepping by ~33 ms (30 fps). - episode_index (TAG) — source episode id, 0–65.
- task_index (TAG) — source task id, 0–2; resolve to the instruction text via
meta/tasks.jsonl. - frame_index (FIELD, INT64) — frame number within the episode.
- sample_index (FIELD, INT64) — the source global
indexcolumn, renamed. - observation_state_0 … observation_state_6 (FIELD, FLOAT) — robot proprioceptive joint state, flattened from the 7-element
observation.statevector (left_joint_0..6). - action_0 … action_6 (FIELD, FLOAT) — joint action command, flattened from the 7-element
actionvector (left_joint_0..6).
The source timestamp column is dropped because it equals Time / 1000 seconds. No other columns or rows are dropped.
Videos
The two camera video streams of the original dataset (observation.images.cam_high, observation.images.cam_left_wrist) are NOT included in this repository. They are large and non–time-series; obtain them from the original dataset:
https://huggingface.co/datasets/allday-technology/coffeeMakingDemo (the videos/ directory).
Usage
Read the .tsfile file with the Apache TsFile Java or Python SDK.
Source & license
- Original dataset: https://huggingface.co/datasets/allday-technology/coffeeMakingDemo
- Author / publisher: allday-technology
- Created with: LeRobot
- License: Apache-2.0 (as declared by the original dataset).
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